CN106640033A - State monitoring method for rotary guiding tool - Google Patents
State monitoring method for rotary guiding tool Download PDFInfo
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- CN106640033A CN106640033A CN201510724450.XA CN201510724450A CN106640033A CN 106640033 A CN106640033 A CN 106640033A CN 201510724450 A CN201510724450 A CN 201510724450A CN 106640033 A CN106640033 A CN 106640033A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000005553 drilling Methods 0.000 claims abstract description 65
- 238000005259 measurement Methods 0.000 claims description 23
- 230000007613 environmental effect Effects 0.000 claims description 21
- 238000003745 diagnosis Methods 0.000 claims description 9
- 238000012545 processing Methods 0.000 claims description 6
- 230000015572 biosynthetic process Effects 0.000 claims description 5
- 230000007175 bidirectional communication Effects 0.000 claims description 4
- 238000012937 correction Methods 0.000 claims description 4
- 238000013473 artificial intelligence Methods 0.000 claims description 3
- 238000013528 artificial neural network Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 5
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- 238000010586 diagram Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 230000004064 dysfunction Effects 0.000 description 2
- 239000003208 petroleum Substances 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
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- 239000012530 fluid Substances 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
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- 230000035485 pulse pressure Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000002002 slurry Substances 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/04—Directional drilling
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- Earth Drilling (AREA)
Abstract
The invention provides a state monitoring method for a rotary guiding tool. By periodically uploading tool working state parameters such as a tool face/the outer sleeve rotary speed obtained through measuring of a downhole tool, the motor speed and pressure/thrust force and the environment parameters such as an orientation measuring parameter, a well hole geometrical parameter and a downhole drilling parameter, the tool working state is displayed through a ground system; the actual parameters of the downhole working state is compared with the parameter model data, so that the aims of monitoring and intelligent fault diagnosing for the rotary guiding tool are achieved, and meanwhile according to the system and the method, through the downhole working state parameters, the conjunctively-input tool state parameter model data and the actual tool guiding effect, a model can be updated in real time, so that the rotary guiding tool has a better guiding effect.
Description
The technical field is as follows:
the invention relates to the field of petroleum drilling, in particular to real-time monitoring of the working state of a rotary steering tool in the petroleum drilling industry.
Background art:
at present, in the drilling industry, a rotary steering drilling system is widely applied, and the rotary steering system can adjust well deviation and direction in real time according to the track control requirement in the rotary drilling process, so that the drilling speed is improved.
Rotary steerable drilling downhole tools operate by biasing a drill bit or drill string in a direction that deflects the drill bit or drill string, thereby inducing steering. Rotary steerable drilling tools can be classified into push type and directional type according to the steering mode. Push-against provides lateral force directly to the bit near the bit, and point-wise directs the bit in the direction of the borehole trajectory control by bending the drill string near the bit. Although the structure and the working mode of the rotary steering downhole tool are different respectively, the rotary steering downhole tool basically comprises a measurement and control system, a biasing mechanism, an actuating mechanism and the like.
The working mode of the biasing mechanism can be divided into a static biasing mode and a dynamic biasing mode. Statically biased means that the biased steering mechanism does not rotate with the drill string during drilling, thereby providing a lateral force in a fixed direction; the dynamic offset means that the offset guide mechanism rotates together with the drill string during the drilling process, and the offset guide mechanism is oriented and paid out at a certain position by means of a control system to provide a guide force.
The measurement and control system is a control center of the rotary steering downhole tool, mainly comprises a measurement sensor, a system controller, a measurement circuit, a power supply system and the like, and is used for system attitude parameter measurement, control method calculation, control error correction compensation, control quantity output, data storage, self state monitoring, real-time communication with an MWD system and the like.
The actuating mechanism usually includes hydraulic pump, valve bank, guide wing rib, eccentric ring mechanism, etc., according to observing and controlling the effects of system and biasing mechanism, make the drilling tool produce the bias power, mainly utilize independent hydraulic system or drilling fluid pressure differential hydraulic system and mechanical system, provide the bias power for guide wing rib or eccentric ring mechanism.
The rotary steering drilling system is a closed-loop automatic control system integrating mechanical, electric and hydraulic functions. The rotary steering drilling tool measures the posture of the tool according to a preset well track and working parameters, generates a control signal in a preset steering direction, and an execution mechanism responds quickly to enable a drilling tool to deviate according to the preset track.
Because the rotary steering drilling tool has a severe working environment and contains more components such as an electronic system component, a hydraulic pump, a slurry generator, a control motor and a control valve, the rotary steering drilling tool is inevitably damaged in the working process, the existing rotary steering drilling tool uploads well track parameters in real time, the working state parameters of the tool are not uploaded to a ground system in real time due to the limitation of the uploading rate of an MWD system, the ground cannot accurately judge whether a measurement and control system, a biasing mechanism and an executing mechanism work normally or not, and can only judge according to the condition that the actual well track parameters are not consistent with preset parameters, but the occurrence reason of the condition is not necessarily that the tool fails, is also related to the change of stratum characteristics or the performance degradation of other downhole drilling tools such as a drill bit and the like, and is lack of monitoring of the working state parameters and the environmental parameters of the rotary steering tool, the diagnosis of the self working state of the rotary steering tool can not be realized, and meanwhile, because the model of the steering effect of the rotary steering tool, the working state parameters of the tool and the environmental parameters is lacked, the influence factors of the steering effect of the tool can not be analyzed, so that when the actual well track parameters are not consistent with the preset parameters, the reasons can not be accurately judged and the corresponding parameter adjustment is carried out, the well track control lag can be caused, and the drilling efficiency is seriously influenced.
Disclosure of Invention
The invention aims to provide a high-efficiency and accurate rotary steering tool state monitoring method aiming at the problems in the prior art.
The technical scheme is as follows:
a method of monitoring the condition of a rotary steerable tool, according to a monitoring system comprising: the system comprises a ground system and a downhole system which are connected by a bidirectional communication system, wherein the downhole system comprises a downhole calculation and data processing unit, a downhole drilling parameter sensor, a borehole parameter sensor, a directional measurement sensor and a tool state sensor; the method for monitoring the state of the rotary steering tool is characterized by comprising the following steps:
(a) the ground system inputs the parameters of the tool state to establish initial model data;
(b) the underground system uploads the actual working state parameters and the environmental parameters of the underground tool, and the ground system receives and displays the actual working state parameters and the environmental parameters of the underground tool;
(c) the ground system updates the model data in real time according to the received actual working state parameters and the received environmental parameters of the downhole tool;
(d) and the ground system downloads instructions according to the updated model data.
The above scheme further comprises:
the parameters in the step (a) comprise the motor rotating speed and pressure/pushing force obtained by ground calibration, and model data are established based on ground test results and block steering capability stratum adaptability; the actual parameters of the underground working state in the step (b) comprise tool surface/outer sleeve rotating speed, motor voltage, pressure/pushing force obtained by underground tool measurement, and the environmental parameters comprise formation characteristics, directional measurement parameters, borehole geometric parameters and underground drilling parameters; the ground system compares the received state parameters and environment parameters of the rotary steering tool with the previously established initial model data, compares a theoretical build-up rate with an actual build-up rate, calculates drilling parameters, adjusts the downhole drilling parameters, the ground drilling parameters and the drilling direction corrected by the directional instrument, compares the theoretical build-up rate with the actual build-up rate again after adjustment, updates the model, and repeats the above steps until the theoretical build-up rate and the actual build-up rate are controlled within a predefined error range; the model data in the step (d) comprises the self state parameters of the tool and the drilling parameters, wherein the self state parameters of the tool comprise the rotating speed of a motor, pressure/pushing force, and the drilling parameters comprise the rotating speed, the bit pressure, the flow, the mud density and the mud viscosity.
The directional measurement parameters comprise the attitude of a bottom hole assembly, well deviation, azimuth, the direction of a drill bit and the real attitude of the x, y and z axes of the drill bit; the geometrical parameters of the well hole comprise the size, the temperature and the pressure of the well hole; the downhole drilling parameters comprise bit pressure, torque, internal and external annular pressure and rotating speed.
The theoretical model of build-up rate is as follows:
comparing the theoretical build rate with the actual build rate formula:
wherein,in order to be a theoretical build rate,for the actual build rate, m is the weighting factor and n is the correction value.
And uploading the actual parameters and the environmental parameters of the working state of the downhole tool at regular time. Uploading data for one time at relatively long time intervals for parameters with slow changes in the working state parameters and the environmental parameters of the tool, wherein the parameters comprise the rotating speed of the tool surface/the outer sleeve; and uploading data including the motor rotating speed, the motor voltage and the pushing force at relatively short time intervals for parameters directly reflecting the working state of the tool and environmental parameters.
The ground system in the step (b) displays the working state and environmental parameters of the tool and carries out early warning, including real-time numerical display of the rotating speed of the ground and the underground tool surface/jacket, the rotating speed of a motor, the voltage of the motor and the pressure/pushing force, and real-time state display of the bit pressure, the torque, the rotating speed, the flow, the pressure, the mechanical drilling speed, the well deviation, the direction, the temperature and the well hole size; in addition, the ground system controls the rotating speed, the bit pressure, the flow rate, the mud density and the mud viscosity; and the ground system carries out intelligent fault diagnosis by using an artificial intelligence method comprising an expert system and an artificial neural network according to the monitored parameters, analyzes the reliability of the diagnosis result and provides corresponding recommended measures for fault treatment.
And aiming at the display of the bit pressure, the torque, the rotating speed, the flow, the pressure, the mechanical drilling speed, the well deviation, the direction, the temperature and the well hole size, the display is carried out by adopting the mode of indicating lamps with different colors.
The method of the invention uploads working state actual parameters such as tool surface/outer sleeve rotating speed, motor rotating speed, pressure/pushing force and the like and orientation measurement parameters, borehole geometric parameters, underground drilling parameters and other environmental parameters measured by an underground tool at regular time, a ground system displays the working state of the tool, compares the underground working state actual parameters with parameter model data, and realizes the purposes of monitoring a rotary steering tool and intelligent fault diagnosis.
Drawings
FIG. 1 is a schematic representation of downhole operation of a rotary steerable tool condition monitoring system.
Fig. 2 is a schematic view of a controllable static push-type rotary steerable tool of the outer sleeve.
FIG. 3 is a schematic diagram of a two-way communication system for a rotary steerable tool condition monitoring system.
FIG. 4 is a diagram of a surface monitoring interface formed by a method of monitoring the condition of a tool being rotated.
FIG. 5 is a schematic diagram of a geosteering model building and updating process in a method for monitoring the state of a tool under rotary steering.
Detailed Description
The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings and embodiments.
As shown, a drilling system 1 at the surface drives a down hole drilling tool, such as a kelly 2, drill pipe 3, bottom hole assembly 4, etc., deep into a borehole 5. Wherein the bottom hole assembly comprises a drill bit 6, a mud motor 9, and a flexible drill pipe 10. The MWD and LWD instrument 8 is used for measuring well track states such as well deviation and azimuth and parameters such as gamma, resistivity, neutrons and density of the stratum, and is used for distinguishing lithology of the stratum and determining the position of an oil and gas layer. The instruments are connected with each other, and all measurement information is transmitted to the surface by means of mud pulse pressure waves, electromagnetic waves and the like through the MWD instrument.
The rotary steering tool 7 is mounted below the mud motor and the flexible drill pipe, and the mud motor further increases the rotation speed of the drill bit. The rotary steerable tool is generally provided with 3 ribs 11 which extend outwardly in respective predetermined directions and exert a predetermined amount of force against the borehole wall, the resultant force vector resulting from the borehole wall reaction forces deflecting the axis of the tool away from the borehole axis, thereby achieving steering. The rotary steering tool and the ground realize bidirectional communication through a special device or an MWD instrument directly, so that the ground can download control instructions and steering parameters, and the downhole tool can upload working state parameters of the downhole tool to the ground.
As shown in FIG. 2, the outer sheath controlled static push rotary steerable tool comprises a central apertured mandrel 12 and an outer sheath 14 through which the mandrel passes. Bearing assemblies 17 are respectively mounted between the outer sleeve and the mandrel near the upper and lower ends of the outer sleeve. The upper part of the mandrel can be connected with other drilling tools such as a power drilling tool and the like through threads, the lower part of the mandrel can be connected with a drill bit through an adapter, and the outer sleeve is tightly pressed by the adapter. Other drilling tools such as a power drilling tool and the like drive the mandrel to rotate, and the mud is led to the drill bit through the central hole of the mandrel. A set of ribs 11, typically three or more ribs, are circumferentially and uniformly mounted on the outer skin surface. The rib drive may be hydraulic 16 or mud driven. Inside the casing a measurement and control unit 15 is sealingly mounted. The measurement control unit mainly comprises a three-axis acceleration sensor, a measurement processing circuit, a motor driver, a controller and the like. And an electric energy and signal transmission device 13 is arranged between the rotating shaft and the outer sleeve and is supplied to the rotary guiding tool in a non-contact electric energy induction transmission mode.
As shown in fig. 3, the rotary steering bidirectional communication system mainly comprises an underground system and a ground system, wherein the underground system uploads actual parameters and environmental parameters of an underground working state at regular time according to needs, and the ground system adjusts underground drilling parameters, ground drilling parameters and a drilling direction corrected by a directional instrument according to updated model data and downloads the parameters through instructions. The parametric model data of the input tool state comprise the motor rotating speed, pressure/pushing force obtained by ground calibration. Downhole tool operating condition sensors 18 provide actual parameters measured by the downhole tool including tool face/casing rotational speed, motor voltage, pressure/thrust. Directional sensors 19 provide various directional measurement parameters including bottom hole assembly attitude, well deviation, azimuth, bit direction, and bit x, y, z axis true attitude. The wellbore parameter sensors 20 provide wellbore geometry parameters including wellbore size, temperature, pressure, etc.; downhole drilling parameter sensors 21 provide various downhole drilling parameters including weight-on-bit, torque, internal and external annulus pressure, rotational speed, flow rate. A downhole computing and data processing device (also referred to as a unit) 22 is responsible for processing various downhole parameters associated with the drilling system. The surface control unit (also called surface system) 23 includes a computer for receiving data from the drilling assembly and for communicating data and signals with the drilling assembly, and communication equipment for providing two-way communication between the surface and the downhole drilling assembly.
As shown in fig. 4, the ground monitoring display system is composed of two parts, namely tool state parameter and environmental parameter monitoring and tool intelligent fault diagnosis. The ground monitoring system can control the rotating speed, the bit pressure, the flow, the mud density and the mud viscosity, display the rotating speed of the ground and the underground tool face/outer sleeve, the rotating speed of the motor, the voltage of the motor and the pressure/pushing force in real time, and display the bit pressure, the torque, the rotating speed, the flow, the pressure, the mechanical bit rate, the well inclination, the direction, the temperature and the well hole size in real time. The state parameters of the drilling tool assembly are displayed in the form of red, yellow and green lights, wherein the green light indicates that the parameters are within the expected value range, the yellow light indicates that the dysfunction exists but is not serious and is a warning signal, and the red light indicates that the dysfunction is serious and needs to be corrected by taking measures. The ground monitoring system carries out intelligent fault diagnosis by monitoring underground drilling parameters, stratum characteristics, directional measurement parameters and borehole geometric parameters by using artificial intelligence methods such as an expert system, an artificial neural network and the like, analyzes the reliability of a diagnosis result and provides corresponding recommended measures for fault treatment.
As shown in fig. 5, the parametric model is built based on the ground test results and the block-steering capability formation adaptability. After analysis, the build-up rate is related to pressure/pushing force, formation characteristics, directional measurement parameters, borehole geometric parameters and downhole drilling parameters, and a build-up rate theoretical model is established as follows:
comparing the theoretical build rate with the actual build rate formula:
wherein,in order to be a theoretical build rate,for the actual build rate, m is the weighting factor and n is the correction value.
The ground system collects the received state parameters of the rotary steering tool, including tool face/outer sleeve rotating speed, motor voltage, pressure/pushing force and environment parameters, including formation characteristics, directional measurement parameters, borehole geometric parameters and downhole drilling parameters, into a processor, carries out data processing by a previously established initial model in the processor, compares a theoretical build-up rate with an actual build-up rate, calculates drilling parameters, then adjusts the downhole drilling parameters, the ground drilling parameters and the drilling direction corrected by a directional instrument, compares the theoretical build-up rate with the actual build-up rate again after adjustment, updates the model, and repeats the steps until the theoretical build-up rate and the actual build-up rate are controlled within a predefined error range.
Claims (7)
1. A method of monitoring the condition of a rotary steerable tool, according to a monitoring system comprising: the system comprises a ground system and a downhole system which are connected by a bidirectional communication system, wherein the downhole system comprises a downhole calculation and data processing unit, a downhole drilling parameter sensor, a borehole parameter sensor, a directional measurement sensor and a tool state sensor; the method for monitoring the state of the rotary steering tool is characterized by comprising the following steps:
(a) the ground system inputs the parameters of the tool state to establish initial model data;
(b) the underground system uploads the actual working state parameters and the environmental parameters of the underground tool, and the ground system receives and displays the actual working state parameters and the environmental parameters of the underground tool;
(c) the ground system updates the model data in real time according to the received actual working state parameters and the received environmental parameters of the downhole tool;
(d) and the ground system downloads instructions according to the updated model data.
2. The method for monitoring the state of a rotary steerable tool according to claim 1, wherein the parameters in step (a) comprise motor rotation speed, pressure/thrust force obtained by surface calibration, and model data are established based on surface test results and block steering capability stratum adaptability; the actual parameters of the underground working state in the step (b) comprise tool surface/outer sleeve rotating speed, motor voltage, pressure/pushing force obtained by underground tool measurement, and the environmental parameters comprise formation characteristics, directional measurement parameters, borehole geometric parameters and underground drilling parameters; the ground system compares the received state parameters and environment parameters of the rotary steering tool with the previously established initial model data, compares a theoretical build-up rate with an actual build-up rate, calculates drilling parameters, adjusts the downhole drilling parameters, the ground drilling parameters and the drilling direction corrected by the directional instrument, compares the theoretical build-up rate with the actual build-up rate again after adjustment, updates the model, and repeats the above steps until the theoretical build-up rate and the actual build-up rate are controlled within a predefined error range; the model data in the step (d) comprises the self state parameters of the tool and the drilling parameters, wherein the self state parameters of the tool comprise the rotating speed of a motor, pressure/pushing force, and the drilling parameters comprise the rotating speed, the bit pressure, the flow, the mud density and the mud viscosity.
3. The method of claim 2, wherein the directional measurement parameters include bottom hole assembly attitude, well deviation, azimuth, bit direction, and bit x, y, z true attitude; the geometrical parameters of the well hole comprise the size, the temperature and the pressure of the well hole; the downhole drilling parameters comprise bit pressure, torque, internal and external annular pressure and rotating speed.
4. The method of claim 2, wherein the build rate theoretical model is established as follows:
comparing the theoretical build rate with the actual build rate formula:
wherein,in order to be a theoretical build rate,for the actual build rate, m is the weighting factor and n is the correction value.
5. A method for monitoring the state of a rotary steerable tool according to claims 1, 2 or 3, 4, characterized in that the actual parameters and environmental parameters of the working state of the downhole tool are uploaded at regular intervals,
a method of condition monitoring of a tool according to claim 4 characterised in that data is uploaded once at relatively long time intervals for parameters of slow changes in tool operating condition parameters and environmental parameters, including tool face/casing rotational speed; and uploading data including the motor rotating speed, the motor voltage and the pushing force at relatively short time intervals for parameters directly reflecting the working state of the tool and environmental parameters.
6. The method for monitoring the state of a rotary steerable tool according to claim 5, wherein the surface system in step (b) displays the working state and environmental parameters of the tool and performs early warning, including real-time numerical display of surface and downhole tool face/casing rotational speed, motor voltage, pressure/thrust force, and real-time state display of weight-on-bit, torque, rotational speed, flow, pressure, rate-of-penetration, well deviation, orientation, temperature, and wellbore size; in addition, the ground system controls the rotating speed, the bit pressure, the flow rate, the mud density and the mud viscosity; and the ground system carries out intelligent fault diagnosis by using an artificial intelligence method comprising an expert system and an artificial neural network according to the monitored parameters, analyzes the reliability of the diagnosis result and provides corresponding recommended measures for fault treatment.
7. The method of claim 6, wherein different colored indicator lights are used for the display of weight-on-bit, torque, rotational speed, flow rate, pressure, rate-of-penetration, well deviation, orientation, temperature, and borehole size.
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| CN107191177A (en) * | 2017-05-16 | 2017-09-22 | 中国石油天然气集团公司 | Permanent tool face azimuth drilling trace control method |
| CN107395449A (en) * | 2017-06-15 | 2017-11-24 | 大连理工大学 | The ground experiment device and its application method of a kind of rotary steerable drilling device talk system |
| CN107461191A (en) * | 2017-08-03 | 2017-12-12 | 中石化石油工程技术服务有限公司 | One kind is with brill orientation electromagnetic wave frontier probe instrument temperature scale method |
| CN107576353A (en) * | 2017-07-31 | 2018-01-12 | 上海大学 | A kind of fast appraisement method of pre-bending BHA working condition |
| CN107829726A (en) * | 2017-12-14 | 2018-03-23 | 杭州丰禾石油科技有限公司 | A kind of connector for logging while drilling |
| CN108825202A (en) * | 2018-07-23 | 2018-11-16 | 中国石油集团渤海钻探工程有限公司 | A kind of downhole dynamics parameter signal processing circuit and processing method |
| CN109029570A (en) * | 2018-07-24 | 2018-12-18 | 中国石油集团渤海钻探工程有限公司 | A kind of detection of downhole tool comprehensive parameters closed loop and evaluation system and method |
| CN109296360A (en) * | 2018-08-23 | 2019-02-01 | 中石化重庆涪陵页岩气勘探开发有限公司 | A kind of multistage method for early warning based on hole deviation |
| CN109901401A (en) * | 2019-04-02 | 2019-06-18 | 敖江昵 | A kind of surface orientation system control method and device |
| CN110397402A (en) * | 2018-04-23 | 2019-11-01 | 中国石油天然气股份有限公司 | Drilling method and device |
| CN111119835A (en) * | 2018-11-01 | 2020-05-08 | 中国石油化工股份有限公司 | Method and system for identifying working conditions while drilling |
| CN111144053A (en) * | 2019-12-19 | 2020-05-12 | 中国地质大学（武汉） | Drilling process build-up rate prediction method and system based on genetic algorithm optimization |
| CN111309351A (en) * | 2020-01-14 | 2020-06-19 | 中国科学院地质与地球物理研究所 | Data upgrading method and system |
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| CN112302536A (en) * | 2020-10-16 | 2021-02-02 | 安徽中勘钻探工程有限公司 | Intelligent directional drilling system and directional drilling method thereof |
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| CN112459721A (en) * | 2021-02-03 | 2021-03-09 | 中国石油大学(华东) | Fault diagnosis method and device for rotary steering drilling tool measurement and control system and application |
| CN114017010A (en) * | 2021-10-29 | 2022-02-08 | 中国石油天然气集团有限公司 | Multi-parameter self-adaptive transmission method for downhole drilling |
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